version: 66.02
glider: 118
mission: 6
dive: 100
start: 9 24 107 18 34 21
data:
$ID,118
$MISSION,6
$DIVE,100
$D_SURF,2
$D_FLARE,2
$D_TGT,100
$D_ABORT,1050
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,35
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51630
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.650002
$TGT_DEFAULT_LON,-122.8667
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-17204.221
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,428
$PITCH_MAX,3730
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,10
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,311
$ROLL_MAX,3943
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2415
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,17
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,540
$VBD_MAX,3800
$C_VBD,3229
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-6.9690108
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,25
$ALTIM_TOP_PING_RANGE,10
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,70
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,2
$SMARTDEVICE1,5
$SMARTDEVICE2,19
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,16
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043805656
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.5554549e-05
$SEABIRD_T_J,2.6681391e-06
$SEABIRD_C_G,-10.331019
$SEABIRD_C_H,1.1763502
$SEABIRD_C_I,-0.0012340198
$SEABIRD_C_J,0.00017379176
$GPS1,182521,4739.586,-12252.547,10,1.6,10,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-60.2
$GPS2,183403,4739.592,-12252.522,11,1.8,11,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H4
$TGT_LATLONG,4739.000,-12253.603
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,212.6,1737,-19.2,-9.524
$D_GRID,100
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-2.07,-122.2,0.0,0.0,0,88,0.00,0.00,-59.05,0.000,2,0.000,0.000,425,2516,3033
$GC,92,-2.07,-122.2,2.1,-4.3,10,135,11.80,2.58,-24.15,0.000,4,0.154,0.084,2542,3888,3729
$GC,195,-2.07,-122.2,8.3,-10.4,26,201,0.00,2.38,0.00,0.000,6,0.000,0.034,2542,2504,3731
$GC,267,-2.07,-122.2,15.8,-10.4,37,273,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2503,3731
$GC,338,-2.07,-122.2,22.5,-9.3,46,339,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2504,3732
$GC,528,-2.07,-122.2,41.1,-9.6,61,529,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2503,3733
$GC,718,-2.07,-122.2,59.4,-9.9,76,722,0.00,2.62,0.00,0.000,4,0.000,0.070,2542,3888,3733
$GC,802,-2.07,-122.2,68.0,-10.2,82,809,0.00,2.40,0.00,0.000,6,0.000,0.034,2543,2497,3733
$GC,999,-2.07,-122.2,85.9,-9.2,98,1003,0.00,2.58,0.00,0.000,4,0.000,0.068,2543,3889,3733
$GC,1064,-2.07,-122.2,92.4,-10.3,102,1072,0.00,2.40,0.00,0.000,6,0.000,0.035,2542,2496,3733
$STATE,1145,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1145,begin apogee
$GC,1151,-0.50,0.0,100.4,9.8,109,1251,1.70,0.00,94.72,0.601,6,0.096,0.000,2886,2417,3229
$STATE,1252,end apogee,CONTROL_FINISHED_OK
$STATE,1252,begin climb
$GC,1254,2.07,122.2,103.0,0.0,117,1352,2.62,0.00,92.55,0.580,6,0.063,0.000,3451,2417,2730
$GC,1540,2.07,122.2,70.8,13.6,140,1542,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2417,2728
$GC,1731,2.07,122.2,45.4,12.9,155,1735,0.00,2.50,0.00,0.000,4,0.000,0.053,3451,1030,2728
$GC,1795,2.07,122.2,36.3,13.3,159,1803,0.00,2.42,0.00,0.000,6,0.000,0.034,3451,2404,2728
$GC,1995,2.07,122.2,11.7,11.9,180,2001,0.00,2.50,0.00,0.000,4,0.000,0.051,3451,1022,2728
$STATE,2085,end climb,SURFACE_DEPTH_REACHED
$STATE,2085,begin surface coast
$FINISH,0.2,1.017865
$STATE,2106,end surface coast,CONTROL_FINISHED_OK
$STATE,2106,begin surface
$SM_CCo,2136,127.90,0.519,0,0,1597,400.08
$SM_GC,0.99,0.00,0.00,127.90,0.000,0.000,0.519,423,2510,1597,-11.86,0.28,400.08
$IRIDIUM_FIX,4719.74,-12251.79,240907,222244
$TT8_MAMPS,0.067496
$HUMID,1795
$INTERNAL_PRESSURE,9.34952
$TCM_TEMP,19.90
$XPDR_PINGS,7
$ALTIM_TOP_PING,9.3,8.7
$ALTIM_BOTTOM_PING,90.1,40.9
$24V_AH,24.0,5.481
$10V_AH,10.1,4.633
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,29.550,25.125,187.275,127.900,0.000,77.661,47.513,197.958,3.250,0.000,2856.000,11.895,375.498,1174.885,412.329,342.429,494.102,0.000,637.757,0.000,351.066,0.000,11.740
$DEVICE_MAMPS,154.167,84.370,601.328,519.259,0.000,103.000,160.000,223.000,420.000,0.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,136.011,0.000,0.000,0.000,0.000,0.000,0.000,2856.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6452,197
$CFSIZE,260034560,254406656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,191303,4739.406,-12252.875,12,1.2,12,18.3